Monocular Camera Calibration for Autonomous Driving — a comparative study

Detalhes bibliográficos
Autor(a) principal: Martins, Pedro Filipe
Data de Publicação: 2020
Outros Autores: Costelha, Hugo, Bento, Luís Conde, Neves, Carlos
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.8/5000
Resumo: Autonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications.
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spelling Monocular Camera Calibration for Autonomous Driving — a comparative studyAutonomous DrivingCamera CalibrationRoboticsAutonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications.Institute of Electrical and Electronics EngineersIC-OnlineMartins, Pedro FilipeCostelha, HugoBento, Luís CondeNeves, Carlos2020-07-08T13:47:38Z2020-04-152020-04-15T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.8/5000engP. F. Martins, H. Costelha, L. C. Bento and C. Neves, "Monocular Camera Calibration for Autonomous Driving — a comparative study," 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Ponta Delgada, Portugal, 2020, pp. 306-311, doi: 10.1109/ICARSC49921.2020.9096104.978-1-7281-7078-710.1109/ICARSC49921.2020.9096104metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-01-17T15:50:17Zoai:iconline.ipleiria.pt:10400.8/5000Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T01:48:39.173256Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Monocular Camera Calibration for Autonomous Driving — a comparative study
title Monocular Camera Calibration for Autonomous Driving — a comparative study
spellingShingle Monocular Camera Calibration for Autonomous Driving — a comparative study
Martins, Pedro Filipe
Autonomous Driving
Camera Calibration
Robotics
title_short Monocular Camera Calibration for Autonomous Driving — a comparative study
title_full Monocular Camera Calibration for Autonomous Driving — a comparative study
title_fullStr Monocular Camera Calibration for Autonomous Driving — a comparative study
title_full_unstemmed Monocular Camera Calibration for Autonomous Driving — a comparative study
title_sort Monocular Camera Calibration for Autonomous Driving — a comparative study
author Martins, Pedro Filipe
author_facet Martins, Pedro Filipe
Costelha, Hugo
Bento, Luís Conde
Neves, Carlos
author_role author
author2 Costelha, Hugo
Bento, Luís Conde
Neves, Carlos
author2_role author
author
author
dc.contributor.none.fl_str_mv IC-Online
dc.contributor.author.fl_str_mv Martins, Pedro Filipe
Costelha, Hugo
Bento, Luís Conde
Neves, Carlos
dc.subject.por.fl_str_mv Autonomous Driving
Camera Calibration
Robotics
topic Autonomous Driving
Camera Calibration
Robotics
description Autonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications.
publishDate 2020
dc.date.none.fl_str_mv 2020-07-08T13:47:38Z
2020-04-15
2020-04-15T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.8/5000
url http://hdl.handle.net/10400.8/5000
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv P. F. Martins, H. Costelha, L. C. Bento and C. Neves, "Monocular Camera Calibration for Autonomous Driving — a comparative study," 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Ponta Delgada, Portugal, 2020, pp. 306-311, doi: 10.1109/ICARSC49921.2020.9096104.
978-1-7281-7078-7
10.1109/ICARSC49921.2020.9096104
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dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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